Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Disaggregation of Revenue
Over time sales, amount	$ 29,124	$ 32,526
Over time sales, percentage	23.40%	28.20%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 13,143	$ 16,211
Over time sales, percentage	10.60%	14.00%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 15,981	$ 16,315
Over time sales, percentage	12.90%	14.10%